The reset method first clears the members of unordered_map.

This is necessary to ensure that the latest values are stored to the members of unordered_map correctly when switching back to the same controller.
isri-aist · May 8, 2024 · 832157f · 832157f
1 parent 8d4ab6b
commit 832157f
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/FootManager.cpp b/src/FootManager.cpp
@@ -121,6 +121,11 @@ void FootManager::reset()
   footstepQueue_.clear();
   prevFootstep_.reset();
 
+  targetFootPoses_.clear();
+  targetFootVels_.clear();
+  targetFootAccels_.clear();
+  footTaskGains_.clear();
+  trajStartFootPoseFuncs_.clear();
   for(const auto & foot : Feet::Both)
   {
     targetFootPoses_.emplace(foot, ctl().robot().surfacePose(surfaceName(foot)));